Robotic Control

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Overview

Robotic control turns sensor readings and task goals into actions, from steering mobile robots to coordinating humanoid bodies and handling delicate contact. Methods range from feedback control, inverse kinematics, and model predictive control to reinforcement learning, imitation learning, and vision-language-action policies. Current work often combines these approaches, adding force or tactile feedback, safety constraints, and sim-to-real adaptation to improve performance on manipulation, locomotion, and human-robot interaction tasks. A central challenge is achieving safe, stable behavior that generalizes to unfamiliar conditions while meeting real-time limits and retaining task performance.

Latest papers

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587 papers95 papers in the last four weeks, up 10% on the four weeks before. 0.5% of all new papers.

  1. Robust and Efficient MuJoCo-based Model Predictive Control via Web of Affine Spaces Derivatives

    Dec 24, 2025Chen Liang, Daniel RakitaRobotic ControlModel Predictive Control

    Department of Computer Science, Yale University, New Haven, CT 06520, USA

  2. ReMoSPLAT: Reactive Mobile Manipulation Control on a Gaussian Splat

    Dec 10, 2025Nicolas Marticorena, Tobias Fischer, Niko SuenderhaufRobotic ControlMobile Manipulation

    QUT Centre For Robotics, School of Electrical Engineering and Robotics at the Queensland University of Technology, Brisbane, QLD 4000, Australia

  3. Stein-based Optimization of Sampling Distributions in Model Predictive Path Integral Control

    Nov 3, 2025Jace Aldrich, Odest Chadwicke JenkinsRobotic ControlStochastic Optimal Control

    Laboratory for Perceptive RObotics and Grounded REasoning SystemS and Robotics Department at the University of Michigan, Ann Arbor, USA

  4. TARC: Time-Adaptive Robotic Control

    Oct 27, 2025Arnav Sukhija, Lenart Treven, Jin Cheng +3Robotic ControlRL Control

    ETH Zurich

  5. Learning On The Job: Zero-Shot Task Execution under Parametric Uncertainty via Trajectory-Parametrized Dual Control

    Oct 23, 2025Victor Vantilborgh, Hrishikesh Sathyanarayan, Guillaume Crevecoeur +2Robotic ControlOnline System Identification

    Department of Electromechanical, Systems and Metal Engineering, Ghent University, Belgium · Department of Mechanical Engineering, Yale University, USA

  6. Koopman Model Predictive Control of An Origami-Inspired Soft Exoskeleton for Knee Rehabilitation

    Oct 13, 2025Junxiang Wang, Han Zhang, Zehao Wang +3Robotic ControlModel Predictive Control

    School of Automation and Intelligent Sensing, Institute of Medical Robotics, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, China · Seventh Affiliated Hospital, SunYat-sen University, Shenzhen 510275, China

  7. LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy

    Oct 3, 2025Zekai Liang, Xiao Liang, Soofiyan Atar +7Robotic ControlRobot Teleoperation

    Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093 USA. · School of Electrical and Computer Engineering, Cornell University, Ithaca, NY 14853 USA. · UC San Diego Health, La Jolla, CA 92037 USA.

  8. GeCCo -- a Generalist Contact-Conditioned Policy for Loco-Manipulation Skills on Legged Robots

    Sep 22, 2025Vassil Atanassov, Wanming Yu, Siddhant Gangapurwala +2Robotic ControlLegged Robotics

    Dynamic Robot Systems Group, Oxford Robotics Institute, University of Oxford · Sony AI · Dyson Institute of Engineering and Technology

  9. All-Electric Heavy-Duty Robotic Manipulator: Surrogate-Enhanced Modeling and Adaptive Modular Control

    Aug 8, 2025Amir Hossein Barjini, Mohammad Bahari, Mahdi Hejrati +1Robotic ControlAdaptive Control

    Department of Engineering and Natural Sciences, Tampere University, 7320 Tampere, Finland

  10. The Constitutional Controller: Doubt-Calibrated Steering of Compliant Agents

    Jul 21, 2025Simon Kohaut, Felix Divo, Navid Hamid +4Robotic ControlRobot Safety

    Artificial Intelligence and Machine Learning Lab, Department of Computer Science, TU Darmstadt, 64283 Darmstadt, Germany · Honda Research Institute Europe GmbH, Carl-Legien-Str. 30, 63073 Offenbach, Germany · Uncertainty in Artificial Intelligence Group, Department of Mathematics and Computer Science, TU Eindhoven, 5600 MB Eindhoven, Netherlands +3

  11. VOTE: Vision-Language-Action Optimization with Trajectory Ensemble Voting

    Jul 7, 2025Juyi Lin, Amir Taherin, Arash Akbari +11Robotic ControlEfficient VLA Model Inference

    Northeastern University, Boston, USA · EmbodyX,San Mateo,USA

  12. Shared Modular Recurrence in Contextual MDPs for Universal Morphology Control

    Jun 10, 2025Laurens Engwegen, Max Weltevrede, Caroline Horsch +2Robotic ControlReinforcement Learning

    Delft University of Technology Delft, The Netherlands

  13. A Three-Stage Offline SDRE-Based Control Framework for Human Motion Reproduction on a Suspended Bipedal Robot

    Jun 5, 2025Ping-Kong Huang, Chien-Wu Lan, Chin-Tien Wu +1Robotic ControlRobot Trajectory Tracking

    Department of Applied Mathematics, National Yang Ming Chiao Tung University, Hsinchu 30010, Taiwan · Department of Electrical Engineering, National Central University, Taoyuan City 320317, Taiwan

  14. From Kinematic Motion Planners to Dynamic Autonomous Navigation with Obstacle Avoidance (Extended version)

    Mar 22, 2025Mayur Sawant, Abdelhamid TayebiRobotic ControlKinodynamic Motion Planning

    Department of Electrical and Computer Engineering, Lakehead University, Thunder Bay, ON P7B 5E1, Canada

  15. Dexterous Control of an 11-DOF Redundant Robot for CT-Guided Needle Insertion With Task-Oriented Weighted Policies

    Mar 18, 2025Peihan Zhang, Derek Chen, Ishan Duriseti +7Robotic ControlInverse Kinematics

    Jacobs School of Engineering, University of California San Diego, La Jolla, CA 92093 USA · School of Medicine, University of California San Diego, La Jolla, CA 92093 USA · School of Medicine, University of Missouri-Kansas City, Kansas City, MO 64110 USA

  16. Learning-Based Progressive Barrier Control for Robot Manipulators with Initial Errors Outside Prescribed Tracking Bounds

    Mar 18, 2025Hamed Rahimi Nohooji, Danial Zafaranchizadeh Moghaddam, Abolfazl Zaraki +1Robotic ControlRobot Trajectory Tracking

    Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust, University of Luxembourg, 1855 Luxembourg, Luxembourg · School of Physics, Engineering and Computer Science (SPECS), and Robotics Research Group of the University of Hertfordshire, Hatfield, AL10 9AB, United Kingdom

  17. Passivity-Centric Safe Reinforcement Learning for Contact-Rich Robotic Tasks

    Mar 1, 2025Heng Zhang, Gokhan Solak, Sebastian Hjorth +1Robotic ControlContact-Rich Robotic Manipulation

    HRI2 Lab, Istituto Italiano di Tecnologia, Genoa, Italy · Ph.D. program of national interest in Robotics and Intelligent Machines (DRIM) and University of Genova, Genoa, Italy